#! /bin/bash
# rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 0, subindex: 4, bool_value: true, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'bool'}"# state_machine_id
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 0, subindex: 4, bool_value: true, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'bool'}" # blue_led_id
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 1, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 3, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int8'}" # TransitionTime
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 6, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 20, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'uint16'}" # FilterBandwidth
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 12, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # Kp100_knee
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 14, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # Kd1000_knee
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 16, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # Ki100_knee
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 18, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # Kp100_hip
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 20, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # Kd1000_hip
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 22, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # Ki100_hip
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 24, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # x_cntr_traj_id
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 26, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 590, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # y_cntr_traj_id
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 28, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # a_ellipse_id
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 30, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # b_ellipse_id
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 32, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 100, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # traj_freq_id
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 34, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # phase_deg_id
rostopic pub -1 /pdo_listener ether_ros/ModifyPDOVariables "{slave_id: 255, index: 36, subindex: 0, bool_value: false, uint8_value: 0, int8_value: 0, uint16_value: 0, int16_value: 0, uint32_value: 0, int32_value: 0, uint64_value: 0, int64_value: 0, type: 'int16'}" # flatness_param_id

# rosservice call /ethercat_communicatord "mode: 'start'"
